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GCS/SubSystem.h

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+/***************************************************************************
+ *   Copyright (c) 2011 Konstantinos Poulios <logari81@gmail.com>          *
+ *                                                                         *
+ *   This file is part of the FreeCAD CAx development system.              *
+ *                                                                         *
+ *   This library is free software; you can redistribute it and/or         *
+ *   modify it under the terms of the GNU Library General Public           *
+ *   License as published by the Free Software Foundation; either          *
+ *   version 2 of the License, or (at your option) any later version.      *
+ *                                                                         *
+ *   This library  is distributed in the hope that it will be useful,      *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
+ *   GNU Library General Public License for more details.                  *
+ *                                                                         *
+ *   You should have received a copy of the GNU Library General Public     *
+ *   License along with this library; see the file COPYING.LIB. If not,    *
+ *   write to the Free Software Foundation, Inc., 59 Temple Place,         *
+ *   Suite 330, Boston, MA  02111-1307, USA                                *
+ *                                                                         *
+ ***************************************************************************/
+
+#ifndef PLANEGCS_SUBSYSTEM_H
+#define PLANEGCS_SUBSYSTEM_H
+
+#undef min
+#undef max
+
+#include <Eigen/Core>
+
+#include "Constraints.h"
+
+
+namespace GCS
+{
+
+class SubSystem
+{
+private:
+    int psize, csize;
+    std::vector<Constraint*> clist;
+    VEC_pD plist;    // pointers to the original parameters
+    MAP_pD_pD pmap;  // redirection map from the original parameters to pvals
+    VEC_D pvals;     // current variables vector (psize)
+                     //        JacobianMatrix jacobi;  // jacobi matrix of the residuals
+    std::map<Constraint*, VEC_pD> c2p;                // constraint to parameter adjacency list
+    std::map<double*, std::vector<Constraint*>> p2c;  // parameter to constraint adjacency list
+    void initialize(VEC_pD& params, MAP_pD_pD& reductionmap);  // called by the constructors
+public:
+    SubSystem(std::vector<Constraint*>& clist_, VEC_pD& params);
+    SubSystem(std::vector<Constraint*>& clist_, VEC_pD& params, MAP_pD_pD& reductionmap);
+    ~SubSystem();
+
+    int pSize()
+    {
+        return psize;
+    };
+    int cSize()
+    {
+        return csize;
+    };
+
+    void redirectParams();
+    void revertParams();
+
+    void getParamMap(MAP_pD_pD& pmapOut);
+    void getParamList(VEC_pD& plistOut);
+
+    void getParams(VEC_pD& params, Eigen::VectorXd& xOut);
+    void getParams(Eigen::VectorXd& xOut);
+    void setParams(VEC_pD& params, Eigen::VectorXd& xIn);
+    void setParams(Eigen::VectorXd& xIn);
+
+    void getConstraintList(std::vector<Constraint*>& clist_);
+
+    double error();
+    void calcResidual(Eigen::VectorXd& r);
+    void calcResidual(Eigen::VectorXd& r, double& err);
+    void calcJacobi(VEC_pD& params, Eigen::MatrixXd& jacobi);
+    void calcJacobi(Eigen::MatrixXd& jacobi);
+    void calcGrad(VEC_pD& params, Eigen::VectorXd& grad);
+    void calcGrad(Eigen::VectorXd& grad);
+
+    double maxStep(VEC_pD& params, Eigen::VectorXd& xdir);
+    double maxStep(Eigen::VectorXd& xdir);
+
+    void applySolution();
+    void analyse(Eigen::MatrixXd& J, Eigen::MatrixXd& ker, Eigen::MatrixXd& img);
+    void report();
+
+    void printResidual();
+};
+
+double lineSearch(SubSystem* subsys, Eigen::VectorXd& xdir);
+
+}  // namespace GCS
+
+#endif  // PLANEGCS_SUBSYSTEM_H